Unmanned sailboat wing sail with telescopic and variable windward area functions

Abstract

The unmanned sailboat wing sail with the telescopic and windward area changing functions comprises a fixed sailboard, a movable sailboard, a linear driving module, an opening and closing blade and a blade adjusting mechanism, the fixed sailboard and the movable sailboard are hollow wing-shaped boards, and the movable sailboard is vertically arranged on the inner side of the fixed sailboard in a sliding mode. The linear driving module drives the movable sailboard to ascend or descend, so that the movable sailboard extends out of or retracts into the inner side of the fixed sailboard. A square window is formed in the movable sailboard, and the multiple opening and closing blades are sequentially arranged on the inner side of the square window from top to bottom and are in running fit with the movable sailboard. The blade adjusting mechanism drives the opening and closing blades to rotate synchronously in the same direction, so that the square window is opened or closed. The height and the windward area of the wing sail are adjusted by introducing the structure of the liftable movable sailboards and the opening and closing blades, so that different wind speeds, sea conditions and sailing requirements are met, the sailing performance of the unmanned sailboat is optimized, the sailing thrust is precisely controlled, and the stability and the safety are improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned sailboat technology, specifically to an unmanned sailboat wing sail with retractable and variable windward area functions. Background Technology

[0002] Unmanned sailboats are autonomous vessels powered by natural wind energy, widely used in marine environmental monitoring, meteorological data collection, and marine resource exploration. Compared to traditional powered vessels, unmanned sailboats utilize wind energy as their primary propulsion, offering advantages in energy conservation and environmental protection, and enabling long-term navigation in open ocean and harsh environments. The main structure of an unmanned sailboat includes a wing-sail structure providing power, a hull for carrying various loads, a keel for stability, and a rudder for maintaining course.

[0003] As one of the core power units of unmanned sailboats, the wingsail plays a crucial role in their navigation. The wingsail generates thrust by facing the wind, serving as the primary power source for the unmanned sailboat. Unlike traditional sailboats, unmanned sailboats typically use rigid wingsails, providing more efficient and stable propulsion. However, existing unmanned sailboat wingsails often face several technical challenges, especially when dealing with complex and changing marine environments. The fixed structure of traditional wingsails cannot be adjusted according to actual conditions, resulting in the underutilization of their performance.

[0004] Most current rigid wing sail structures are fixed and cannot be dynamically adjusted according to different wind speeds and sea conditions. When the wind is weak, fixed wing sails cannot provide sufficient thrust, resulting in reduced sailing efficiency for unmanned sailboats; while in strong winds or rough sea conditions, fixed wing sails may experience excessive stress, increasing the heel angle of the unmanned sailboat and even causing it to capsize. Secondly, the windward area of ​​traditional wing sails is usually constant, making it difficult to optimize according to sailing requirements, thus limiting the performance of sailboats under different wind speed conditions. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to propose an unmanned sailboat wing sail with retractable and variable windward area, which aims to solve the problem that most current rigid wing sail structures are fixed and cannot be dynamically adjusted according to different wind speeds and sea conditions.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] An unmanned sailboat wing sail with retractable and variable windward area functions includes a fixed sail, a movable sail, a linear drive module, opening and closing blades and a blade adjustment mechanism. The fixed sail and the movable sail are both hollow airfoil plates. The fixed sail is arranged vertically and its top is an open structure.

[0008] The front side of the fixed sail is the leading edge of the airfoil, and the rear side of the fixed sail is the trailing edge of the airfoil.

[0009] The movable sail is located inside the fixed sail. The outer wall of the movable sail slides vertically with the inner wall of the fixed sail. The linear drive module is located inside the fixed sail and drives the movable sail to rise or fall, so that the movable sail extends from the top of the fixed sail or retracts into the fixed sail.

[0010] The movable sail has a square window that runs through both the left and right sides. There are multiple opening and closing blades, and all the opening and closing blades are arranged in order from top to bottom inside the square window. Each opening and closing blade is rotated and engaged with the movable sail through a horizontally arranged shaft.

[0011] The blade adjustment mechanism is located inside the movable sail, driving each of the opening and closing blades to rotate synchronously and in the same direction relative to the movable sail, thereby opening or closing the square window.

[0012] Furthermore, the outer surface of the fixed sail has a scratch-resistant hydrophobic coating, and the outer surface of the movable sail has the same hydrophobic coating.

[0013] Furthermore, the linear drive module includes a first servo motor, a lead screw, and a sleeve. The first servo motor is located on the lower inner side of the fixed sail. The lead screw is arranged vertically, and its lower end is connected to the output shaft of the first servo motor through a coupling.

[0014] The sleeve is vertically fixed inside the movable sail and is arranged opposite to the lead screw. The upper end of the lead screw is located inside the sleeve and is threaded into the sleeve.

[0015] Furthermore, the square window has a front side plate and a rear side plate on its front and rear sides, and an upper side plate and a lower side plate on its upper and lower sides. All four side plates are fixedly connected to the left and right sides of the movable sail to form a whole, and seal the internal cavity of the movable sail.

[0016] Furthermore, the opening and closing blade is a square plate with an internal cavity structure, and the rotating shaft passes through and is fixed at the center line of the opening and closing blade. Its front and rear ends extend to the outside of the opening and closing blade and are rotatably engaged with the front side plate and the rear side plate, respectively.

[0017] The thickness of the opening and closing blades decreases sequentially from front to back. In the closed state, the left and right outer walls of the opening and closing blades are consistent with the left and right outer walls of the movable sail.

[0018] The upper and lower surfaces of each opening and closing blade are outwardly convex arc surfaces, and the lower surface of the upper side plate and the upper surface of the lower side plate are inwardly concave arc surfaces that match the end surfaces of the opening and closing blades.

[0019] Furthermore, the blade adjustment mechanism includes a gear shaft, a second servo motor, a driving bevel gear, and a driven bevel gear, with the gear shaft vertically positioned on the front side of the sleeve.

[0020] The upper end of the gear shaft is rotatably engaged with the top wall of the movable sail via a bearing seat, and its lower end is connected to the output shaft of the second servo motor via another coupling.

[0021] Each of the rotating shafts has a driven bevel gear installed at its rear end. The number of driving bevel gears is equal to that of the driven bevel gears and their positions correspond one-to-one. The driven bevel gears mesh with the corresponding driving bevel gears.

[0022] By adopting the above technical solution, the beneficial technical effects of this utility model are:

[0023] 1. This invention allows for adjustment of the windward area of ​​the wing sail according to different wind conditions. At lower wind speeds, the movable sail can be raised to increase the windward area and enhance the thrust of the wind on the unmanned sailboat. Conversely, at higher wind speeds, the movable sail can be lowered to reduce the windward area, lower the center of gravity of the entire wing sail, and improve the sailing stability of the unmanned sailboat. Compared to traditional fixed wing sails, this invention offers greater adaptability and can flexibly respond to different marine environments.

[0024] 2. When the marine environment is relatively ideal, the height of the movable sailboard is increased to increase the windward area of ​​the unmanned sailboat's wing sail. In this state, the opening and closing blades on the movable sailboard are opened according to the wind speed changes, and the opening and closing degree of the opening and closing blades are adjusted to achieve real-time and precise control of the windward area of ​​the wing sail, thereby improving the sailing efficiency and stability of the unmanned sailboat.

[0025] In extreme marine environments, the flaps close, reducing the height of the movable sail and retracting it into the fixed sail. This reduces the windward area of ​​the wing sail and lowers the overall center of gravity, thereby improving the safety of the unmanned sailboat and preventing it from capsizing or being damaged.

[0026] 3. The external coating of the unmanned sailboat wing sail of this utility model is a hydrophobic coating, which can effectively prevent seawater from entering the interior of the fixed sail during the extension and retraction of the movable sail, thus preventing corrosion of its internal structure and affecting its long-term use. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an unmanned sailboat wing sail with retractable and variable windward area functions according to this utility model.

[0028] Figure 2 This is a diagram showing the retracted state of the wing sail of an unmanned sailboat with retractable and variable windward area according to this utility model.

[0029] Figure 3 This is a schematic diagram of the structure of this utility model after removing the opening and closing blades.

[0030] Figure 4 This is a schematic diagram of the combined structure of the opening and closing blades and the blade adjustment mechanism of this utility model.

[0031] Figure 5 This is an overall schematic diagram of the opening and closing blades of the unmanned sailboat of this utility model in a small-angle open state.

[0032] Figure 6 This is an overall schematic diagram of the opening and closing blades of the unmanned sailboat wing sail of this utility model in the 90° open state.

[0033] Figure 7 This is a cross-sectional view of an unmanned sailboat wing sail with retractable and variable windward area according to the present invention.

[0034] Figure 8 yes Figure 7 A partial enlarged view of section A. Detailed Implementation

[0035] The present invention will now be described in detail with reference to the accompanying drawings:

[0036] Combination Figures 1 to 8 An unmanned sailboat wing sail with retractable and variable windward area functions includes a fixed sail 1, a movable sail 2, a linear drive module, opening and closing blades 3, and a blade adjustment mechanism 4. The fixed sail 1 and the movable sail 2 are both hollow airfoil plates. The fixed sail 1 is arranged vertically, with a closed bottom and an open top. The internal cavity cross section is an airfoil structure that matches the movable sail 2. A mast 6 is fixedly installed below the fixed sail 1. The fixed sail 1 is fixedly connected to the actuator of a steering device inside the unmanned sailboat hull through the mast 6. The steering device adopts existing technology and drives the mast 6 to rotate around its axis.

[0037] Specifically, the front side of the fixed sail 1 is the leading edge of the airfoil, and the rear side of the fixed sail 1 is the trailing edge of the airfoil. The outer surface of the fixed sail 1 has a scratch-resistant hydrophobic coating, and the outer surface of the movable sail 2 has the same hydrophobic coating, which can effectively reduce the adhesion of seawater splashed by waves to the surface of the wing sail. The lower end of the movable sail 2 is vertically inserted into the cavity inside the fixed sail 1, and the outer wall of the movable sail 2 is vertically slidingly engaged with the inner wall of the fixed sail 1.

[0038] Preferably, a fluororubber O-ring is fixedly embedded on the upper inner sidewall of the fixed sail 1, and a retaining ring with the same cross-sectional shape is provided on the upper end face of the fixed sail 1. The retaining ring is detachably fixed to the upper end face of the fixed sail 1 to form an annular cavity for installing the fluororubber O-ring. Under the compression of the retaining ring and the upper end of the fixed sail 1, the fluororubber O-ring adheres to the outer sidewall of the movable sail 2, realizing a movable seal between the outer sidewall of the movable sail 2 and the inner side of the cavity of the fixed sail 1. This effectively prevents seawater from the outside of the movable sail 2 from entering the cavity of the fixed sail 1, thus preventing corrosion and damage to the mechanical structure and electrical equipment of the fixed sail 1, enhancing the durability of the wing sail, and extending its service life.

[0039] Furthermore, two sets of sliding grooves are symmetrically formed on the inner walls of the left and right sides of the fixed sail 1. These grooves are dovetail grooves, and each set includes two or three dovetail grooves arranged at intervals from front to back. All dovetail grooves are vertically arranged and located below the fluororubber O-ring seals. Each groove is equipped with a dovetail slider, and each dovetail slider is fixed to the bottom edge of the movable sail 2. The movable sail 2 achieves stable sliding contact with the fixed sail 1 through the dovetail sliders.

[0040] Furthermore, the linear drive module is located inside the fixed sail 1. The linear drive module drives the movable sail 2 to rise or fall, causing the movable sail 2 to extend upwards from the top of the fixed sail 1 or retract into the fixed sail 1, thereby increasing or decreasing the effective area and center of gravity of the unmanned sailboat's wing sail. In operation, the unmanned sailboat's anemometer can measure the size and direction of the sea wind in real time and transmit the data to the unmanned sailboat's control system. The movable sail 2 can rise and fall according to different wind requirements, adjusting the height and center of gravity of the wing sail in real time, thus achieving optimal adjustment according to different sea conditions and wind forces.

[0041] Specifically, the front and rear ends of the movable sailboard 2 are its leading and trailing edges, respectively, and the top of the movable sailboard 2 is closed. The linear drive module includes a first servo motor 51, a lead screw 52, ​​and a sleeve 53. The first servo motor 51 is fixed to the lower inner side of the fixed sailboard 1 by bolts. The lead screw 52 is vertically arranged above the first servo motor 51, and the lower end of the lead screw 52 is connected to the output shaft of the first servo motor 51 through a coupling. The first servo motor 51 is powered by the battery of the unmanned sailboat, and its signal terminal is communicatively connected to the control system of the unmanned sailboat.

[0042] The sleeve 53 is vertically fixed inside the movable sail 2 and is arranged vertically opposite to the lead screw 52. The upper end of the lead screw 52 passes through the lower end of the sleeve 53 and is threaded into the inner wall of the sleeve 53. In operation, the first servo motor 51 drives the lead screw 52 to rotate forward or backward according to the instructions of the unmanned sailboat's control system, thereby raising or lowering the movable sail 2 relative to the fixed sail 1.

[0043] The movable sailboard 2 has a square window 21 that runs through the left and right sides. The front and rear sides of the square window 21 have a front side plate 22 and a rear side plate 23, respectively. The upper and lower sides of the square window 21 have an upper side plate and a lower side plate 24, respectively. All four side plates are fixedly connected to the left and right sides of the movable sailboard 2 to form a whole, and seal the internal cavity of the movable sailboard 2.

[0044] The opening and closing blades 3 are provided in multiple ways. Each opening and closing blade 3 is a square plate with an internal cavity structure. All opening and closing blades 3 are arranged from top to bottom on the inner side of the square window 21. Each opening and closing blade 3 is rotatably engaged with the movable sail 2 through a longitudinally horizontally arranged rotating shaft 31.

[0045] The rotating shaft 31 is arranged horizontally in the longitudinal direction at the centerline of the opening and closing blade 3. The rotating shaft 31 is fixedly connected to the opening and closing blade 3 as a whole, and its front and rear ends extend to the outside of the opening and closing blade 3, and are rotatably engaged with the front side plate 22 and the rear side plate 23, respectively. Both the front side plate 22 and the rear side plate 23 are provided with round holes adapted to the rotating shaft 31. Bearing seats are provided on the opposite sides of the front side plate 22 and the rear side plate 23. The front and rear ends of the rotating shaft 31 pass through the round holes located in the front side plate 22 and the rear side plate 23, respectively, and are rotatably engaged with the bearing seats of the front side plate 22 or the rear side plate 23. Each opening and closing blade 3 can rotate relative to the movable sail plate 2 around the rotating shaft 31 on its inner side.

[0046] The thickness of the opening and closing blades 3 decreases sequentially from front to back. The upper and lower end faces of each opening and closing blade 3 are outwardly convex arc surfaces. The lower surface of the upper side plate and the upper surface of the lower side plate are inwardly concave arc surfaces that match the end faces of the opening and closing blades 3.

[0047] When the opening and closing blades 3 are closed, their left and right outer walls are aligned with and smoothly transition to the left and right outer walls of the movable sail 2. The top of the uppermost opening and closing blade 3 is in contact with the arcuate surface at the bottom of the upper side plate, and its bottom arcuate surface is in contact with the top arcuate surface of the adjacent lower opening and closing blade 3. The bottom of the lowermost opening and closing blade 3 is in contact with the arcuate surface at the upper surface of the lower side plate. When closed, the wind does not travel from one side of the movable sail 2 through the square window 21 to the other side, but instead travels along the surface of the opening and closing blades 3 to the trailing edge of the movable sail 2.

[0048] The blade adjustment mechanism 4 is installed inside the movable sail 2, driving each of the opening and closing blades 3 to rotate synchronously and in the same direction relative to the movable sail 2, thereby opening or closing the square window 21. Specifically, the blade adjustment mechanism 4 includes a gear shaft 41, a second servo motor 42, a driving bevel gear 43, and a driven bevel gear 44. The gear shaft 41 is vertically arranged on the front side of the sleeve 53. The upper end of the gear shaft 41 is rotatably engaged with the top wall of the movable sail 2 through a bearing seat, and its lower end is connected to the output shaft of the second servo motor 42 through another coupling.

[0049] Each of the rotating shafts 31 has a driven bevel gear 44 mounted at its rear end. An equal number of driving bevel gears 43, each corresponding to one of the driven bevel gears 44, are fixedly mounted on the gear shaft 41. The driven bevel gears 44 mesh with their corresponding driving bevel gears 43. In operation, the second servo motor 42 controls the opening and closing angle of the blades according to instructions from the unmanned sailboat control system, enabling more precise adjustments based on wind changes to adapt to different wind conditions.

[0050] The second servo motor 42 is powered by the unmanned sailboat's battery and its signal terminal is connected to the unmanned sailboat's control system. In operation, the control system commands the second servo motor 42 to drive the gear shaft 41 to rotate forward or backward, causing all active bevel gears 43 to rotate synchronously with the gear shaft 41. Each active bevel gear 43 drives its corresponding driven bevel gear 44 to rotate, causing all opening and closing blades 3 to rotate synchronously and in the same direction relative to the movable sail 2, and controlling the opening and closing angles of all opening and closing blades 3. When the angle of the opening and closing blade 3 is 0°, the square window 21 is closed. After rotating 90°, the opening and closing blade 3 is perpendicular to the plane of the movable sail 2.

[0051] The movable sailboard 2 of this invention features two functions: raising and lowering, and varying the windward area. These two functions can work together. The raising and lowering function of the movable sailboard 2 can adjust the height of the wing sail, thereby changing the windward area and center of gravity height of the wing sail. The varying windward area function adjusts the opening degree of the flaps according to wind force and direction requirements, thereby achieving more precise wind force regulation and sailing stability, enabling the unmanned sailboat to sail efficiently and stably in different marine environments.

[0052] The parts not mentioned in this utility model can be achieved by adopting or referencing existing technologies.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0055] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A retractable and variable windward area wing sail for unmanned sailboats, characterized in that, It includes a fixed sail, a movable sail, a linear drive module, opening and closing blades and a blade adjustment mechanism. Both the fixed sail and the movable sail are hollow airfoil plates. The fixed sail is arranged vertically and its top is an open structure. The front side of the fixed sail is the leading edge of the airfoil, and the rear side of the fixed sail is the trailing edge of the airfoil. The movable sail is located inside the fixed sail. The outer wall of the movable sail slides vertically with the inner wall of the fixed sail. The linear drive module is located inside the fixed sail and drives the movable sail to rise or fall, so that the movable sail extends out from the top of the fixed sail or retracts into the fixed sail. The movable sail has a square window that runs through both the left and right sides. There are multiple opening and closing blades, and all the opening and closing blades are arranged in order from top to bottom inside the square window. Each opening and closing blade is rotated and cooperates with the movable sail through a vertically horizontally arranged pivot. The blade adjustment mechanism is located inside the movable sail, driving each of the opening and closing blades to rotate synchronously and in the same direction relative to the movable sail, thereby opening or closing the square window.

2. The unmanned sailboat wing sail with retractable and variable windward area function as described in claim 1, characterized in that, The outer surface of the fixed sail has a scratch-resistant hydrophobic coating, and the outer surface of the movable sail has the same hydrophobic coating.

3. The unmanned sailboat wing sail with retractable and variable windward area function according to claim 1, characterized in that, The linear drive module includes a first servo motor, a lead screw, and a sleeve. The first servo motor is located on the lower inner side of the fixed sail. The lead screw is arranged vertically, and its lower end is connected to the output shaft of the first servo motor through a coupling. The sleeve is vertically fixed inside the movable sail and is arranged opposite to the lead screw. The upper end of the lead screw is located inside the sleeve and is threaded into the sleeve.

4. The unmanned sailboat wing sail with retractable and variable windward area function as described in claim 1, characterized in that, The square window has a front side plate and a rear side plate on its front and rear sides, and an upper side plate and a lower side plate on its upper and lower sides. All four side plates are fixedly connected to the left and right sides of the movable sail to form a whole, and seal the internal cavity of the movable sail.

5. The unmanned sailboat wing sail with retractable and variable windward area function according to claim 4, characterized in that, The opening and closing blade is a square plate with an internal cavity structure. The rotating shaft passes through and is fixed at the center line of the opening and closing blade. Its front and rear ends extend to the outside of the opening and closing blade and are rotatably engaged with the front side plate and the rear side plate, respectively. The thickness of the opening and closing blades decreases from front to back. In the closed state, the left and right outer walls of the opening and closing blades are consistent with the left and right outer walls of the movable sail. The upper and lower surfaces of each opening and closing blade are outwardly convex arc surfaces, and the lower surface of the upper side plate and the upper surface of the lower side plate are inwardly concave arc surfaces that match the end surfaces of the opening and closing blades.

6. The unmanned sailboat wing sail with retractable and variable windward area function according to claim 3, characterized in that, The blade adjustment mechanism includes a gear shaft, a second servo motor, a driving bevel gear, and a driven bevel gear, with the gear shaft vertically arranged on the front side of the sleeve; The upper end of the gear shaft is rotatably engaged with the top wall of the movable sail through a bearing seat, and its lower end is connected to the output shaft of the second servo motor through another coupling. Each of the rotating shafts has a driven bevel gear installed at its rear end. The number of driving bevel gears is equal to that of the driven bevel gears and their positions correspond one-to-one. The driven bevel gears mesh with the corresponding driving bevel gears.

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